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公开(公告)号:US06587750B2
公开(公告)日:2003-07-01
申请号:US09964171
申请日:2001-09-25
申请人: Craig Richard Gerbi , Eugene F. Duval , Don Minami , Bob Hager , J. Kenneth Salisbury , Akhil Madhani , John Stern , Gary S. Guthart
发明人: Craig Richard Gerbi , Eugene F. Duval , Don Minami , Bob Hager , J. Kenneth Salisbury , Akhil Madhani , John Stern , Gary S. Guthart
IPC分类号: G06F1900
摘要: An input device for robotic surgery mechanically transmits a grip signal across a first joint coupling a handle to a linkage supporting the handle. The handle is removable and replaceable, allows unlimited rotation about the joint, and may optionally include a touch sensor to inhibit movement of a surgical end effector when the hand of the surgeon is not in contact with the handle.